Refactor JSON input init, goal (typo)

diff --git a/base/main.cc b/base/main.cc
index c327d78c2c69af7ff602b7f9f6679b5f6b8654ed..bc3dc8b9ce4f72bdfde1d1abba02385681b9c1b1 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -138,15 +138,30 @@ int main()
         std::cin >> jvi;
         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 
+        if (jvi["init"] == Json::nullValue) {
+                std::cerr << "I need `init` in JSON input scenario";
+                std::cerr << std::endl;
+                return 1;
+        }
+
+        if (jvi["goal"] == Json::nullValue) {
+                std::cerr << "I need `goal` in JSON input scenario";
+                std::cerr << std::endl;
+                return 1;
+        }
+
         PLANNER p(
-                        new RRTNode(
-                                jvi["init"][0].asFloat(),
-                                jvi["init"][1].asFloat(),
-                                jvi["init"][2].asFloat()),
-                        new RRTNode(
-                                jvi["goal"][0].asFloat(),
-                                jvi["goal"][1].asFloat(),
-                                jvi["goal"][2].asFloat()));
+                new RRTNode(
+                        jvi["init"][0].asFloat(),
+                        jvi["init"][1].asFloat(),
+                        jvi["init"][2].asFloat()
+                ),
+                new RRTNode(
+                        jvi["goal"][0].asFloat(),
+                        jvi["goal"][1].asFloat(),
+                        jvi["goal"][2].asFloat()
+                )
+        );
         jvo["init"][0] = p.root()->x();
         jvo["init"][1] = p.root()->y();
         jvo["init"][2] = p.root()->h();